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Merged in f5soh/librepilot/LP-596_AltitudeHold_transition (pull request #509)

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LP-596 Fix AltitudeHold transition

Approved-by: Lalanne Laurent <f5soh@free.fr>
Approved-by: Cliff . <cliffsjunk@att.net>
Approved-by: Julian Lilov <jdl@abv.bg>
Approved-by: Philippe Renon <philippe_renon@yahoo.fr>
This commit is contained in:
Lalanne Laurent 2018-04-29 17:27:14 +00:00 committed by Philippe Renon
commit 853a014e47
1 changed files with 11 additions and 1 deletions
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12
flight/libraries/math/pid.c
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@ -219,7 +219,17 @@ float pid2_apply(
// pid->I = (pid->u0 - pid->va) / pid->vb - pid->kp * (pid->beta * r - y); // pid->I = (pid->u0 - pid->va) / pid->vb - pid->kp * (pid->beta * r - y);
// this is dangerous, if pid->I starts nonzero with very low or zero kI, then // this is dangerous, if pid->I starts nonzero with very low or zero kI, then
// it will never settle! // it will never settle!
pid->I = 0.0f; // pid->I = 0.0f;
// whether ki is zero or non-zero, when doing 'reconfigure' we start with setpoint==actual
pid->I = (pid->u0 - pid->va) / pid->vb;
// if ki is non-zero
if (pid->bi > 5e-7f) {
// then the output can wind up/down to get rid of a difference between setpoint and actual
// so we can generate the full bumpless transfer here
// else leave off the part that can vary due to difference between setpoint and actual
// so that it is repeatable (for tuning purposes at least)
pid->I -= pid->kp * (pid->beta * r - y);
}
} }
// compute proportional part // compute proportional part